CN205343145U - Expression robot - Google Patents
Expression robot Download PDFInfo
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- CN205343145U CN205343145U CN201620076715.XU CN201620076715U CN205343145U CN 205343145 U CN205343145 U CN 205343145U CN 201620076715 U CN201620076715 U CN 201620076715U CN 205343145 U CN205343145 U CN 205343145U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
- B25J11/0015—Face robots, animated artificial faces for imitating human expressions
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- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
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Abstract
The utility model provides an expression robot, includes the robot framework and fixed truss, and the the robot framework sets up on the stationary plane of fixed truss, sets firmly a plurality of step motor group on the fixed truss and organizes with a plurality of rack and pinion transmissions of step motor group link respectively, and the the robot framework includes the shell system, sets up two eyebrow rotatable parts on the shell system, the two eyelid rotatable parts s of setting on the shell system, the two eyeball rotatable parts s of setting on the shell system, lower jaw moving part and setting the make a video recording induction system on shell system of setting on the shell system, be equipped with on the the robot framework respectively and be used for controlling eyebrow rotatable parts with gear -rack transmission mechanism is connected, eyelid rotatable parts, a plurality of drive steel wires of eyeball rotatable parts and the motion of lower jaw moving part, simplify and improve through carrying out the head construction to expression ware people, the tie point has been reduced, the present invention improves the utilization ratio of the space, the degree of freedom quantity that realizes the expression has been simplified.
Description
Technical field
This utility model relates to robotics, particularly relates to a kind of expression robot.
Background technology
Expression robot is the intelligent robot of a kind of energy simulating human facial expression and emotion action, it is as a kind of service robot, for realizing man-machine interaction particularly affective interaction, there is important function, feature due to the hommization of expression robot, emotional culture, the research making expression robot has a very wide range of applications prospect, in recent years, increasing research institution and organized the research of robot with humanoid facial expression.
One of Research Challenges of expression robot is to complete Design of Mechanical Structure in the confined space, and the feature that global design has narrow space, range of movement is little, motion is accurate and load is little, the action of integrated model simultaneously to be coordinated, meet the characteristics of motion of human tau, face, require that motion transmission is wanted accurately, can not distortion, this is also the problem that this problem is wanted to solve emphatically.
At present, some American-European and Japanese universities and research institution are achieved with certain achievement in research, and the robot that it is developed focuses on mechanical stability, have complicated head construction and face epidermis and skin texture is true to nature.
Although above-mentioned existing expression robot has been basically completed similar to people in shape, but internal mechanical structure is complicated, quality is excessive, involve great expense, unsightly, and driving device majority selects direct current generator or steering wheel to profile, controls mechanism's weave in of different loci in narrow and small head construction, make motion transmission inharmonious, thus eventually affecting robot overall appearance and head movement effect.
Utility model content
The purpose of this utility model is in that to overcome above-mentioned the deficiencies in the prior art, it is provided that the expression robot that a kind of good looking appearance, structure are simplified, space availability ratio high, expression is lively flexible and cost is low.
This utility model is realized in, a kind of expression robot, including robot body framework and fixing truss, described robot body framework is arranged on the stationary plane of described fixing truss, described fixing truss is installed with multiple stepper motor and the multiple rack pinion groups being connected with described stepper motor respectively, described robot body framework includes shell system, it is arranged on two eyebrow rotatable parts on described shell system, it is arranged on two eyelid rotatable parts on described shell system, it is arranged on two Rotation of eyeball parts on described shell system, it is arranged on the mandibular movement parts on described shell system and the shooting induction installation being arranged on described shell system, described robot body framework be provided be connected with described rack and pinion drive mechanism respectively for controlling described eyebrow rotatable parts, eyelid rotatable parts, multiple driving steel wires of Rotation of eyeball parts and the motion of mandibular movement parts.
Further, three given layer skeletons that described shell system includes vertically being arranged side by side, be vertically plugged on the fixing skeleton of forehead above described given layer skeleton, level is plugged on the fixing skeleton in the middle level in the middle part of described given layer skeleton, is arranged on the fixing support for base bottom the fixing skeleton in described middle level, level is plugged on the fixing skeleton of the lower floor on described fixing support for base and is vertically installed in two protective plates at fixing skeleton two ends, described middle level.
Further, described eyebrow rotatable parts include eyebrow parts, rotating shaft, the joint rocker being arranged on described eyebrow parts and are installed in two pull lever at described joint rocker two ends, described eyebrow parts are connected with described shell system by described rotating shaft, described joint rocker is fixed on described shell system by back-moving spring, and described pull lever is connected with the described rack and pinion drive mechanism on described fixing truss by driving steel wire.
Further, described eyelid rotatable parts include eyelid and rotate upwardly and downwardly oscillating bearing, described eyelid by bolt be installed in described in rotate upwardly and downwardly on oscillating bearing, described rotate upwardly and downwardly oscillating bearing be arranged on described shell system and described in rotate upwardly and downwardly oscillating bearing by back-moving spring with drive steel wire be connected, described driving steel wire connection described fixing truss on described rack and pinion drive mechanism.
Further, described Rotation of eyeball parts include eyeball and rotate upwardly and downwardly parts and eyeball left-right rotation parts, described eyeball rotates upwardly and downwardly parts and includes an eyeball and and rotate upwardly and downwardly oscillating bearing, the described oscillating bearing that rotates upwardly and downwardly is arranged on described shell system, described one end rotating upwardly and downwardly oscillating bearing connects described eyeball, the described other end rotating upwardly and downwardly oscillating bearing is connected with driving steel wire by back-moving spring, described driving steel wire connects the described rack and pinion drive mechanism on described fixing truss, described eyeball left-right rotation parts include an eyeball and a left rocker, described left rocker is connected with back-moving spring with described eyeball respectively, described left rocker connects the described rack and pinion drive mechanism on described fixing truss by driving steel wire.
Further, described mandibular movement parts include lower jaw parts and a lower jaw oscillating bearing, the tail end of described lower jaw parts is connected with described shell system, described mandibular joint bearing is arranged on described lower jaw parts, described lower jaw parts are connected with driving steel wire by back-moving spring, and described driving steel wire connects the described rack and pinion drive mechanism on described fixing truss.
The beneficial effects of the utility model are: the expression robot that this utility model provides, its robot body framework be provided be connected with rack and pinion drive mechanism respectively for controlling eyebrow rotatable parts, eyelid rotatable parts, multiple driving steel wires of Rotation of eyeball parts and the motion of mandibular movement parts, so, from the overall structure of expression robot, under not affecting the premise that expression realizes effect, to eyebrow rotatable parts, eyelid rotatable parts, Rotation of eyeball parts and these four main face module of mandibular movement parts re-start structural design, simplify degree of freedom, save big quantity space, power select the motor that precision is higher as driving, drive system is separated from robot body framework simultaneously, by gear drive, power reached driving steel wire, final drive eyebrow rotatable parts, eyelid rotatable parts, Rotation of eyeball parts and mandibular movement parts realize freely-movable, simplify by robot is carried out head construction and improve, decrease junction point, improve space availability ratio, simplify the degree of freedom quantity realizing expression, robot runs more steady, install and operate simpler.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical solution of the utility model, the accompanying drawing used required in embodiment will be briefly described below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of the expression robot that this utility model one embodiment provides.
Fig. 2 is the structural representation of its robot body framework of expression robot that this utility model one embodiment provides.
Fig. 3 is the structural representation of its shell system of expression robot that this utility model one embodiment provides.
Fig. 4 is the structural representation of its eyebrow rotatable parts of expression robot that this utility model one embodiment provides.
Fig. 5 is the structural representation of its eyelid rotatable parts of expression robot that this utility model one embodiment provides.
Fig. 6 is the structural representation that its eyeball of expression robot that this utility model one embodiment provides rotates upwardly and downwardly parts.
Fig. 7 is the structural representation of its eyeball side-to-side movement parts of expression robot that this utility model one embodiment provides.
Fig. 8 is the structural representation of its mandibular movement parts of expression robot that this utility model one embodiment provides.
Detailed description of the invention
In order to make this utility model be solved the technical problem that, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, this utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain this utility model, be not used to limit this utility model.
As depicted in figs. 1 and 2, a kind of expression robot that this utility model embodiment provides, including robot body framework 1 and fixing truss 2, described robot body framework 1 is arranged on the stationary plane 21 of described fixing truss 2, described fixing truss 2 is installed with multiple stepper motor 3 and the multiple rack pinion groups 4 being connected with described stepper motor 3 respectively, described robot body framework 1 includes shell system 11, it is arranged on two eyebrow rotatable parts 12 on described shell system 11, it is arranged on two eyelid rotatable parts 13 on described shell system 11, it is arranged on two Rotation of eyeball parts 14 on described shell system 11, it is arranged on the mandibular movement parts 15 on described shell system 11 and is arranged on the shooting induction installation 16 on described shell system 11, described robot body framework 1 be provided be connected with described rack and pinion drive mechanism 4 respectively for controlling described eyebrow rotatable parts 12, eyelid rotatable parts 13, multiple driving steel wires of Rotation of eyeball parts 14 and mandibular movement parts 15 motion, simplify by expression device people is carried out head construction and improve, decrease junction point, improve space availability ratio, simplify the degree of freedom quantity realizing expression, robot runs more steady, install and operate simpler.
In the present embodiment, as shown in Figure 3, three given layer skeletons 111 that described shell system 11 includes vertically being arranged side by side, be vertically plugged on the fixing skeleton 112 of forehead above described given layer skeleton 111, level is plugged on the fixing skeleton 113 in the middle level in the middle part of described given layer skeleton 111, is arranged on the fixing support for base 115 bottom the fixing skeleton 113 in described middle level, level is plugged on the fixing skeleton 114 of the lower floor on described fixing support for base 115 and is vertically installed in two protective plates 116 at fixing skeleton 113 two ends, described middle level.
In the present embodiment, as shown in Figure 4, described eyebrow rotatable parts 12 include eyebrow parts 121, rotating shaft 122, it is arranged on the joint rocker 123 on described eyebrow parts 121 and is installed in two pull lever 124 at described joint rocker 123 two ends, described eyebrow parts 121 are connected with described shell system by described rotating shaft 122, described joint rocker 123 is fixed on described shell system by back-moving spring 125, described pull lever 124 is connected with the described rack and pinion drive mechanism 4 on described fixing truss by driving steel wire 126, so, by driving steel wire 126 to be connected with the described rack and pinion drive mechanism 4 on described fixing truss, match with corresponding motor 3.In the present embodiment, as shown in Figure 5, described eyelid rotatable parts 13 include eyelid 131 and rotate upwardly and downwardly oscillating bearing 132, described eyelid 132 by bolt be installed in described in rotate upwardly and downwardly on oscillating bearing 132, described rotate upwardly and downwardly oscillating bearing 132 be arranged on described shell system and described in rotate upwardly and downwardly oscillating bearing 132 and be connected with driving steel wire 134 by back-moving spring 133, described driving steel wire 134 connects the described rack and pinion drive mechanism 3 on described fixing truss, so, matched with described rack and pinion drive mechanism 4 by the described motor 3 being arranged on described fixing truss.
In the present embodiment, as shown in Figure 6 and Figure 7, described Rotation of eyeball parts 14 include eyeball and rotate upwardly and downwardly parts 141 and eyeball left-right rotation parts 142, described eyeball rotates upwardly and downwardly parts 141 and includes an eyeball 1411 and and rotate upwardly and downwardly oscillating bearing 1412, the described oscillating bearing 1412 that rotates upwardly and downwardly is arranged on described shell system, described one end rotating upwardly and downwardly oscillating bearing 1412 connects described eyeball 1411, the described other end rotating upwardly and downwardly oscillating bearing 1412 is connected with driving steel wire 144 by back-moving spring 143, described driving steel wire 144 connects the described rack and pinion drive mechanism 4 on described fixing truss, described eyeball left-right rotation parts 142 include eyeball 1421 and a left rocker 1422, described left rocker 1422 is connected with back-moving spring 145 with described eyeball 1421 respectively, described left rocker 1422 connects the described rack and pinion drive mechanism 4 on described fixing truss by driving steel wire 146.
In the present embodiment, as shown in Figure 8, described mandibular movement parts 15 include lower jaw parts 151 and a lower jaw oscillating bearing 152, the tail end of described lower jaw parts 151 is connected with described shell system, described mandibular joint bearing 152 is arranged on described lower jaw parts 151, described lower jaw parts 151 are connected with driving steel wire 154 by back-moving spring 153, described driving steel wire 154 connects the described rack and pinion drive mechanism 4 on described fixing truss, so, the described motor 3 by being arranged on described fixing truss matches with described rack and pinion drive mechanism 4.
It should be noted that, the expression robot that this utility model provides is from robot overall structure, under not affecting the premise that expression realizes effect, these four main face module of described eyebrow rotatable parts 12, eyelid rotatable parts 13, Rotation of eyeball parts 14 and mandibular movement parts 15 are re-started structural design, 11 road motor linkages are adopted to control, accurately realize the control of ten ones degree of freedom, corresponding as follows:
(1) left eyebrow: up and down motion degree of freedom (two motor in synchrony)；
(2) left eyebrow: rotary freedom (two motors are reverse)；
(3) right eyebrow: up and down motion degree of freedom (two motor in synchrony)；
(4) right eyebrow: rotary freedom (two motors are reverse)；
(5) left upper eyelid: up and down motion degree of freedom；
(6) left lower eyelid: up and down motion degree of freedom；
(7) right upper lid: up and down motion degree of freedom；
(8) right lower eyelid: up and down motion degree of freedom；
(9) left and right eyeball: up and down motion degree of freedom；
(10) left and right eyeball: side-to-side movement degree of freedom；
(11) lower jaw: up and down motion degree of freedom.
Wherein, power selecting the motor that precision is higher as driving, drive system separated from robot body framework simultaneously, by gear drive, power is reached driving steel wire, each face module of final drive realizes freely-movable.
The beneficial effects of the utility model are: the expression robot that this utility model provides, its robot body framework be provided be connected with rack and pinion drive mechanism respectively for controlling eyebrow rotatable parts, eyelid rotatable parts, multiple driving steel wires of Rotation of eyeball parts and the motion of mandibular movement parts, so, from the overall structure of expression robot, under not affecting the premise that expression realizes effect, to eyebrow rotatable parts, eyelid rotatable parts, Rotation of eyeball parts and these four main face module of mandibular movement parts re-start structural design, simplify degree of freedom, save big quantity space, power select the motor that precision is higher as driving, drive system is separated from robot body framework simultaneously, by gear drive, power reached driving steel wire, final drive eyebrow rotatable parts, eyelid rotatable parts, Rotation of eyeball parts and mandibular movement parts realize freely-movable, simplify by robot is carried out head construction and improve, decrease junction point, improve space availability ratio, simplify the degree of freedom quantity realizing expression, robot runs more steady, install and operate simpler.
The above is preferred implementation of the present utility model; it should be pointed out that, for those skilled in the art, under the premise without departing from this utility model principle; can also making some improvements and modifications, these improvements and modifications are also considered as protection domain of the present utility model.
Claims (6)
1. an expression robot, it is characterized in that, including robot body framework and fixing truss, described robot body framework is arranged on the stationary plane of described fixing truss, described fixing truss is installed with multiple stepper motor and the multiple rack pinion groups being connected with described stepper motor respectively, described robot body framework includes shell system, it is arranged on two eyebrow rotatable parts on described shell system, it is arranged on two eyelid rotatable parts on described shell system, it is arranged on two Rotation of eyeball parts on described shell system, it is arranged on the mandibular movement parts on described shell system and the shooting induction installation being arranged on described shell system, described robot body framework be provided be connected with described rack and pinion drive mechanism respectively for controlling described eyebrow rotatable parts, eyelid rotatable parts, multiple driving steel wires of Rotation of eyeball parts and the motion of mandibular movement parts.
2. a kind of expression robot according to claim 1, it is characterized in that, three given layer skeletons that described shell system includes vertically being arranged side by side, be vertically plugged on the fixing skeleton of forehead above described given layer skeleton, level is plugged on the fixing skeleton in the middle level in the middle part of described given layer skeleton, is arranged on the fixing support for base bottom the fixing skeleton in described middle level, level is plugged on the fixing skeleton of the lower floor on described fixing support for base and is vertically installed in two protective plates at fixing skeleton two ends, described middle level.
3. a kind of expression robot according to claim 1, it is characterized in that, described eyebrow rotatable parts include eyebrow parts, rotating shaft, the joint rocker being arranged on described eyebrow parts and are installed in two pull lever at described joint rocker two ends, described eyebrow parts are connected with described shell system by described rotating shaft, described joint rocker is fixed on described shell system by back-moving spring, and described pull lever is connected with the described rack and pinion drive mechanism on described fixing truss by driving steel wire.
4. a kind of expression robot according to claim 1, it is characterized in that, described eyelid rotatable parts include eyelid and rotate upwardly and downwardly oscillating bearing, described eyelid by bolt be installed in described in rotate upwardly and downwardly on oscillating bearing, described rotate upwardly and downwardly oscillating bearing be arranged on described shell system and described in rotate upwardly and downwardly oscillating bearing by back-moving spring with drive steel wire be connected, described driving steel wire connection described fixing truss on described rack and pinion drive mechanism.
5. a kind of expression robot according to claim 1, it is characterized in that, described Rotation of eyeball parts include eyeball and rotate upwardly and downwardly parts and eyeball left-right rotation parts, described eyeball rotates upwardly and downwardly parts and includes an eyeball and and rotate upwardly and downwardly oscillating bearing, the described oscillating bearing that rotates upwardly and downwardly is arranged on described shell system, described one end rotating upwardly and downwardly oscillating bearing connects described eyeball, the described other end rotating upwardly and downwardly oscillating bearing is connected with driving steel wire by back-moving spring, described driving steel wire connects the described rack and pinion drive mechanism on described fixing truss, described eyeball left-right rotation parts include an eyeball and a left rocker, described left rocker is connected with back-moving spring with described eyeball respectively, described left rocker connects the described rack and pinion drive mechanism on described fixing truss by driving steel wire.
6. a kind of expression robot according to claim 1, it is characterized in that, described mandibular movement parts include lower jaw parts and a lower jaw oscillating bearing, the tail end of described lower jaw parts is connected with described shell system, described mandibular joint bearing is arranged on described lower jaw parts, described lower jaw parts are connected with driving steel wire by back-moving spring, and described driving steel wire connects the described rack and pinion drive mechanism on described fixing truss.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620076715.XU CN205343145U (en) | 2016-01-27 | 2016-01-27 | Expression robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620076715.XU CN205343145U (en) | 2016-01-27 | 2016-01-27 | Expression robot |
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| CN205343145U true CN205343145U (en) | 2016-06-29 |
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| CN201620076715.XU Active CN205343145U (en) | 2016-01-27 | 2016-01-27 | Expression robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437247A (en) * | 2016-01-27 | 2016-03-30 | 龙卷风机电科技（昆山）有限公司 | Expression robot |
| CN106426295A (en) * | 2016-11-16 | 2017-02-22 | 北京因时机器人科技有限公司 | Mechanical bionic eye device |
-
2016
- 2016-01-27 CN CN201620076715.XU patent/CN205343145U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437247A (en) * | 2016-01-27 | 2016-03-30 | 龙卷风机电科技（昆山）有限公司 | Expression robot |
| CN105437247B (en) * | 2016-01-27 | 2017-06-20 | 龙卷风机电科技（昆山）有限公司 | A kind of expression robot |
| CN106426295A (en) * | 2016-11-16 | 2017-02-22 | 北京因时机器人科技有限公司 | Mechanical bionic eye device |
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